JP2010089936A - Part pick-up apparatus and its method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To pick up a part from a workpiece by changing suction force. <P>SOLUTION: This part pick-up apparatus for picking up a blanked and worked part Ps in the workpiece W includes an arm 21A movable with respect to the workpiece W and having suction pads Pad for holding the part Ps at a plurality of locations, and a control means 27a for controlling switching between on and off states for each suction pad Pad of a function for holding the part Ps for each suction pad Pad and controlling holding force for holding the part Ps for each suction pad Pad during the on state. The control means 27a performs control to change the force of the suction pads Pad for holding the part Ps and picking up the part Ps from the workpiece W. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a component take-out apparatus and a method thereof, and more specifically, a component take-out apparatus and a method for taking out the component by separating the component from the work by simultaneously holding the component and the workpiece by suction or the like and changing the holding ability. About.

  2. Description of the Related Art Conventionally, in a component take-out device (for example, a build-in take-out loader) that picks up a component from a workpiece, the component is sucked by a suction pad provided in an arm. When suctioning, the vacuum air of the suction pad is turned on or off by a plurality of solenoids.

  As shown in FIG. 9, for example, in order to suck the component Ps, the suction pads Pad1, Pad4, Pad5, Pad8, Pad9, Pad10, and Pad11 existing on the component Ps among the 16 suction pads Pad1 to Pad16. The solenoid was turned on. In this way, the suction pads related to the component Ps are managed in the on state and the off state, and the solenoid on / off states of the suction pads Pad1 to Pad16 are controlled by group management.

  In group management, for example, when the solenoid of the suction pad Pad1 is turned on or off, the vacuum air is controlled to be turned on or off by two suction pads. Similarly, when the solenoid of the suction pad Pad4 is turned on or off, the vacuum air is controlled to be turned on or off by the two suction pads. When the solenoid of the suction pad Pad5 is turned on or off, the vacuum air is controlled to be turned on or off by the four suction pads. When the solenoid of the suction pad Pad 8 is turned on or off, the vacuum air is controlled to be turned on or off by the three suction pads.

  Further, when the solenoid of the suction pad Pad 9 is turned on or off, the vacuum air is controlled to be turned on or off by the two suction pads. When the solenoid of the suction pad Pad 10 is turned on or off, the vacuum air is controlled to be turned on or off by the three suction pads. When the solenoid of the suction pad Pad 11 is turned on or off, the vacuum air is controlled to be turned on or off by the three suction pads.

See also Patent Document 1.
JP 05-097272 A

  The above-described component extraction device has the following problems. For example, when the U-shaped part Ps shown in FIG. 9 is to be sucked and unloaded, the suction pads on the part Ps are a total of seven groups of the suction pads 1, 4, 5, 8, 9, 10, and 11. Exists. Here, when the solenoids related to the suction pads 4, 5, 8, 9, and 11 excluding the suction pad Pad 1 are turned on, a portion (remaining material) that is not cut out of the workpiece is sucked.

  Since the remaining material is fixed to the main body by the clamp, the solenoids of the suction pads 4, 5, 8, 9, 10, and 11 cannot be turned on by lifting the solenoids of the suction pads 4, 5, 8, 9, 10, and 11, so that the parts Ps cannot be carried out. .

  However, there is a problem that even if the solenoid of only the suction pad Pad1 is turned on, the part Ps cannot be lifted in a balanced manner, and the part Ps cannot be transported.

  According to a first aspect of the present invention, in the component take-out device for taking out a processed component from a workpiece, the component holding unit for holding the component and the holding function of the component holding unit are switched between an operation state and a release state, and the operation Control means for changing the holding capacity of the component holding section in the case of a state, and the control means increases the holding capacity from a high state when the component holding section holds the part and the workpiece. It is desirable to use a component take-out device that controls to change to a low state and separates the component from the workpiece.

  According to a second aspect of the present invention, preferably, the component holding unit includes a detection unit that detects that the workpiece is separated from the component holding unit.

  The invention according to claim 3 is provided with calculation means for calculating the weight of the component, and the control means performs control for setting the holding capacity of the component holding portion in accordance with the weight of the component.

  The invention according to claim 4 is preferably the above-described component take-out device, wherein the component holding unit is a suction pad that is suctioned by a plurality of negative pressures.

  The invention according to claim 5 is preferably the above-described component take-out device in which a plurality of the component holding portions are arranged and the components are held by exciting the electromagnet.

  The invention according to claim 6 is preferably the above-described component take-out device, wherein the control means performs switching control of an operation state or an operation release with respect to a predetermined one of the plurality of component holding portions.

  According to a seventh aspect of the present invention, in the component take-out method for taking out a processed part from a workpiece, the component holding unit holds the component, and the control means operates or releases the holding function of the component holding unit. In addition to switching to a state, the holding capability of the component holding unit is changed in the operating state, and the control means increases the holding capability when the component holding unit holds the component and the workpiece. It is desirable to have a component picking method in which the state is changed from a low state to a low state and control is performed to separate the component from the workpiece.

  According to the present invention, when the component holding unit holds the part and the workpiece, the control unit changes the holding ability from a high state to a low state and performs control to separate the component from the workpiece. Other than a very small part that can suck only the part and can only enter the gap between the suction pads, the part can be taken out from the work regardless of the shape of the part.

  Please refer to FIG. 1 shows an embodiment of a multifunction machine 1 as an example of a processing machine according to the present invention. In this example, when viewed from above (perpendicular) with respect to the paper surface, the left-right direction is the X axis, the up-down direction perpendicular to the X axis is the Y-axis direction, and the direction perpendicular to the paper surface is the Z-axis. The direction.

  The multifunction machine 1 includes a frame 3, a table 5, a carriage base 7, a carriage 9, a plurality of clampers 11, a laser processing unit 13, a laser processing head 15, a laser oscillator 15a, a turret 17, A guide 19, a component holding unit 21, a CAD / CAM device 23, a control panel PC 25, an NC device 27, and control means 27 a and calculation means 27 b provided in the NC device 27 are provided.

  The frame 3 is fixed to the floor, and supports the laser processing unit 13, the laser processing head 15, the turret 17, and the like. The table 5 is configured to be movable and positionable with respect to the frame 3 in the Y-axis direction by driving means (servo motor or the like). The carriage base 7 is provided at one end of the table 5 so as to extend in the X-axis direction. The carriage 9 is provided on the carriage base 7 so as to be movable and positionable in the X-axis direction by a driving means (servo motor or the like). The carriage 9 is provided with a plurality of clamps 11 for gripping the workpiece W.

  The laser processing unit 13 is provided extending in the Y-axis direction of the frame 3. The laser processing head 15 is provided on the laser processing unit 13 so as to be movable and positionable in the Y-axis direction by a driving means (servo motor or the like). The laser processing head 15 can be moved and positioned in the Z-axis direction, is supplied with a laser beam from a laser oscillation device 15a, and is supplied with an assist gas from an assist gas supply source (not shown).

  Then, the workpiece W is moved to a position directly below the laser processing head 15, and the laser beam is irradiated from the tip nozzle of the laser processing head 15 toward the processing position of the workpiece W together with the assist gas injection, thereby performing laser cutting processing. Done.

  The turret 17 is composed of upper and lower turrets, and an upper turret is supported so as to be freely indexable. Further, a lower turret is rotatably supported by the lower frame so as to face the upper turret. A ram cylinder is provided at a position corresponding to the processing position of the upper frame, and the ram is lowered to process the workpiece W by the cooperation of the punch die of the upper turret and the die die of the lower turret. Do. At this time, the workpiece W gripped by the clamp 11 is configured such that the machining position of the workpiece W can be positioned between the upper and lower molds by the movement of the carriage 9 in the X-axis direction and the movement of the table 5 in the Y-axis direction. Yes.

  At one end portion of the frame 3, a guide 19 of the component holding portion 21 is provided extending in the Y-axis direction. The component holding portion 21 is movable and positionable in the Y-axis direction along the guide 19 while holding the cut component Ps, and the workpiece W held by the clamp 11 is in the X-axis direction of the carriage 9. Configured to move. Actually, when the component holding unit 21 takes out the component Ps, since the component Ps is already separated from the workpiece W, the workpiece W is not usually moved from the disconnected state. Then, the component holding unit 21 operates in the Y-axis direction and takes out the component Ps.

  In this example, as an example of the component holding unit 21, assuming that the component holding unit 21 includes an arm 21 </ b> A, a support unit 21 </ b> B that supports the arm 21 </ b> A, and a plurality of suction pads Pad <b> 1 to Pad <b> 16 arranged on the arm 21 </ b> A, Give an explanation.

  The CAD / CAM device 23 creates NC data for laser processing by drawing a plate cutting shape of the part Ps, and assigns a die shape to the plate cutting shape for turret punch / die processing. And the NC data is transmitted to the control panel PC25.

  The control panel PC 25 receives the NC data and distributes it to the NC device 27 and the like, and can also perform a scheduled operation. The NC device 27 receives the NC data. The control unit 27a controls the multifunction device 1 based on the received NC data.

  Please refer to FIG. 2 to FIG. An operation in the XY-axis direction of the component holding portion 21 including the arm 21A, a support portion 21B that supports the arm 21A, and a plurality of suction pads Pad1 to Pad16 arranged on the arm 21A is shown. FIG. 3 is a view of the multifunction machine 1 in FIG. 2 as viewed from the front, and shows the operation of the component holding unit 21 in the Z-axis direction.

  The arm support portion 21B supports the arm 21A and is moved and positioned in the Z-axis direction by driving means (not shown). The arm support portion 21B is movable on the guide 19 in the Y-axis direction.

  As shown in FIGS. 2 to 4, the relative positional relationship between the workpiece W and the arm 21A is directed from the arrow Ar1 to the arrow Ar2 and further toward the arrow Ar3, and the target component Ps can be sucked. Become. Actually, when the component holding unit 21 composed of the arm 21A, the support portion 21B supporting the arm 21A, and the suction pads Pad1 to Pad16 arranged on the arm 21A takes out the component Ps, the component is already present. Since Ps is separated from the workpiece W, the workpiece W is not usually moved from that state by moving the X and Y axes. After the cutting operation of the component Ps, the component holding unit 21 configured by the arm 21A, the support unit 21B that supports the arm 21A, and a plurality of suction pads Pad1 to Pad16 arranged on the arm 21A operates (work W The operation of taking out the component Ps is normal. Then, the removed part Ps is conveyed to the conveyor 29.

  As described above, in the component take-out device that takes out the component Ps produced by processing the workpiece W, the holding ability of the suction pads Pad1 to Pad16 that holds the component Ps is controlled to switch the operation state or release of the operation state. And a control means 27a for controlling the change in the holding ability of the parts Ps of the suction pads Pad1 to Pad16 in the operation state.

  Then, the control means 27a performs control to change the holding ability from the strong state to the weak state when each of the suction pads Pad1 to Pad16 holds the part Ps and the work W, and to take out the part Ps from the work W.

  Furthermore, it has a detection means which detects that the workpiece | work W left | separated from the suction pads Pad1-Pad16. The detection means is, for example, detection means (sensors) A to P that measure the distance in the Z-axis direction from the upper surface of the workpiece W in a non-contact manner using capacitance, eddy current, or the like.

  Moreover, the calculation means 27b which calculates the weight of component Ps may be provided, and the control means 27a may be comprised so that control which sets the holding | maintenance capability of adsorption pad Pad1-Pad16 according to the weight of component Ps can be performed. . Here, the weight of the component Ps can be calculated as follows. That is, the area of each component nested and arranged by the CAD / CAM device 23 can be obtained, and the weight can be calculated from the thickness and material of the workpiece W. A holding capacity is set in advance according to the weight.

  Further, instead of the suction pad Pad that is attracted to the component Ps, the component Ps may be held by exciting the electromagnet.

  Furthermore, the control means 27a can perform switching control of an operation state or an operation release for a predetermined one of the plurality of suction pads Pad1 to Pad16.

  Please refer to FIG. A case where the part Ps is sucked and taken out from the workpiece W will be described. The arm 21A has suction pads Pad1 to Pad16. A plurality of detection sensors AP are arranged between the suction pads Pad1 to Pad16.

  Further, the suction pads Pad 1 to 16 are group-managed. In synchronization with the solenoid of the suction pad Pad1 being turned on or off, the vacuum air is controlled to be turned on or off by the two suction pads. Group management can be similarly performed for the solenoids of the suction pads Pad2 to Pad16.

  Please refer to FIG. An operation of taking out the above-described component Ps from the workpiece W will be described.

  First, in step S501, when the component Ps is sucked, all the solenoids of the suction pads Pad1 to Pad16 are turned on to open a valve related to gas inflow.

  In step S03, the workpiece W (remaining material) and the part Ps are attracted together. Please refer to FIG. The suction pads Pad1 to Pad16 of the arm 21A suck both the part Ps and the workpiece W.

  In step S05, the workpiece W is lifted several millimeters. Please refer to FIG. The part Ps and the work W are sucked by the suction pads Pad1 to Pad16 of the arm 21A, and the part Ps and the work W are raised by a distance Dis (several millimeters) from the tip of the brush Br.

  In step S07, thereafter, the air flow rate of the suction pads Pad1 to Pad16 is gradually lowered by the solenoid.

  In step S09, the workpiece W and the component Ps are detected by the detection means A to P arranged on the arm 21A. The detection means A to P are, for example, distance sensors that measure the distance in the Z-axis direction from the upper surface of the workpiece W in a non-contact manner by electrostatic capacity, eddy current, or the like. Thereby, it can be judged whether the workpiece | work W and the components Ps were isolate | separated.

  In step S11, it is determined whether or not only the component Ps is sucked. When it is determined that only the part Ps is sucked, the process proceeds to step S13. When it is determined that it is not only the part Ps (when the remaining material is included), the process returns to step S07.

  Please refer to FIG. The part Ps is separated from the workpiece W, and the part Ps can be transported. That is, since the remaining material is gripped by the clamp 11, an elastic force that returns to the original shape acts, so that the remaining material and the part Ps are separated.

  In step S13, the air flow rate of the suction pads Pad1 to Pad16 is increased again. As a result, the suction force for sucking the component Ps is increased, and the component can be transported stably. Then, the process ends.

  The present invention is not limited to the embodiment of the invention described above, and can be implemented in other modes by making appropriate modifications.

  For example, the computer program is configured as follows.

In a computer program of a component take-out device that takes out a machined component from a workpiece,
The computer has a component holding unit that holds the component, and a control unit that switches a holding function of the component holding unit between an operation state and a release state, and changes a holding capability of the component holding unit in the operation state. Make it work
A computer program for causing the control means to change the holding ability from a high state to a low state and to separate the component from the workpiece when the component holding unit holds the component and the workpiece. .

  Further, the computer program may be recorded on a recording medium.

It is the schematic which shows the processing system schematic structure provided with the components extraction apparatus. It is the schematic which shows the outline of a components extraction apparatus. It is the schematic which shows the outline of a components extraction apparatus. It is explanatory drawing explaining arrangement | positioning of the adsorption pad of components, and arrangement | positioning of a sensor. It is a flowchart which shows operation | movement of a components extraction apparatus. It is explanatory drawing explaining taking-out of components. It is explanatory drawing explaining taking-out of components. It is explanatory drawing explaining taking-out of components. It is a prior art explaining a prior art.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Multifunction machine 3 Frame 5 Table 7 Carriage base 9 Carriage 11 Clamper 13 Laser processing part 15 Laser processing head 17 Turret 19 Built-in take-out loader guide 21A Built-in take-out loader arm 21B Built-in take-out loader (support part)
23 CAD / CAM device 25 Control panel PC
27 NC device 29 Conveyor Ps Parts W Workpiece

Claims (7)

In the parts picking device that picks up the processed parts from the workpiece,
A component holding unit for holding the component;
Switching the holding function of the component holding unit to an operating state or a release state, and a control means for changing the holding capacity of the component holding unit in the case of the operating state,
The control means performs control to change the holding ability from a high state to a low state and to separate the component from the workpiece when the component holding unit holds the component and the workpiece. The parts take-out device.   2. The component take-out apparatus according to claim 1, wherein the component holding unit includes a detecting unit that detects that the workpiece is separated from the component holding unit. A calculating means for calculating the weight of the component;
3. The component take-out apparatus according to claim 1, wherein the control unit performs control to set a holding capability of the component holding unit according to a weight of the component.   4. The component take-out apparatus according to claim 1, wherein a plurality of the component holding portions are suction pads that are suctioned by a plurality of negative pressures. 5.   4. The component take-out device according to claim 1, wherein a plurality of the component holding portions are arranged and hold the component by excitation to an electromagnet. 5.   6. The component take-out apparatus according to claim 4, wherein the control means performs switching control of an operation state or an operation release for a predetermined one of the plurality of component holding units. In the part extraction method to take out the processed parts from the workpiece,
The component holding part holds the component,
The control means switches the holding function of the component holding unit to an activated state or a released state, and changes the holding capacity of the component holding unit in the activated state,
The control means performs control to change the holding ability from a high state to a low state and to separate the component from the workpiece when the component holding unit holds the component and the workpiece. How to take out parts.